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Hands-On ROS for Robotics Programming

You're reading from   Hands-On ROS for Robotics Programming Program highly autonomous and AI-capable mobile robots powered by ROS

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Product type Paperback
Published in Feb 2020
Publisher Packt
ISBN-13 9781838551308
Length 432 pages
Edition 1st Edition
Tools
Concepts
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Author (1):
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Bernardo Ronquillo Japón Bernardo Ronquillo Japón
Author Profile Icon Bernardo Ronquillo Japón
Bernardo Ronquillo Japón
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Table of Contents (19) Chapters Close

Preface 1. Section 1: Physical Robot Assembly and Testing
2. Assembling the Robot FREE CHAPTER 3. Unit Testing of GoPiGo3 4. Getting Started with ROS 5. Section 2: Robot Simulation with Gazebo
6. Creating the Virtual Two-Wheeled ROS Robot 7. Simulating Robot Behavior with Gazebo 8. Section 3: Autonomous Navigation Using SLAM
9. Programming in ROS - Commands and Tools 10. Robot Control and Simulation 11. Virtual SLAM and Navigation Using Gazebo 12. SLAM for Robot Navigation 13. Section 4: Adaptive Robot Behavior Using Machine Learning
14. Applying Machine Learning in Robotics 15. Machine Learning with OpenAI Gym 16. Achieve a Goal through Reinforcement Learning 17. Assessment 18. Other Books You May Enjoy

Virtual SLAM and Navigation Using Gazebo

In this chapter, you will be introduced to the concepts and components of robot navigation. Using SLAM (short for Simultaneous Localization and Mapping) techniques, you will be able to execute autonomous navigation with GoPiGo3. This chapter deals with advanced topics in simulation. Hence, it is essential that you have understood the concepts of the previous chapter, where we gave you the basics to interact with a virtual robot in Gazebo.

SLAM is a technique used in robotics to explore and map an unknown environment while estimating the pose of the robot itself. As it moves all around, it will be acquiring structured information of the surroundings by processing the raw data coming from its sensors.

You will explore this concept with a practical approach using the digital twin of GoPiGo3, neatly understanding why a SLAM implementation is...

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